| 摘要 |
PURPOSE: A system and method for compensating a vehicle sensor offset are provided to compensate a sensor offset for a lane keeping assist system vehicle when the speed of each wheel of a vehicle is different and compensate the sensor offset for the lane keeping assist system vehicle when the vehicle is moving on a curved road. CONSTITUTION: A system for compensating a vehicle sensor offset comprises: wheel speed sensors(100, 200, 300, 400) which sense the speed of wheels; a yaw rate sensor(500) sensing the yaw rate of a vehicle; a steering angle sensor(600) which detects the steering angle of the vehicle; a video camera(700) which observes roads; a storage unit(800) where offset information such as an initial yaw rate, an initial steering angle offset, and an initial heading offset is stored; and a control unit(900). The control unit estimates a heading angle based on received images from the video camera if the vehicle is considered to be moving on a curved road based on the detected yaw rate and steering angle. The control unit renews the initial heading angle in the storage unit based on the estimated heading angle offset. [Reference numerals] (100) FL wheel speed sensors; (200) RL wheel speed sensors; (300) FR wheel speed sensors; (400) RR wheel speed sensors; (500) Yaw rate sensor; (600) Steering angle sensor; (700) Video camera; (800) Offset storage unit; (900) Control unit |
